Research
Research
Research
Research
9,775+ open-access research outputs.
The increasing use of LLM-based agents to support decision-making and control across diverse domains motivates the need for systematic deconfliction of their proposed actions. We present a deconflicti…
Automatic Speech Recognition (ASR) is increasingly used in applications involving child speech, such as language learning and literacy acquisition. However, the effectiveness of such applications is l…
Learning-based quadruped controllers achieve impressive agility but typically lack formal safety guarantees under model uncertainty, perception noise, and unstructured contact conditions. We introduce…
Assistive teleoperation enhances efficiency via shared control, yet inter-operator variability, stemming from diverse habits and expertise, induces highly heterogeneous trajectory distributions that u…
We propose a generative framework for multi-track music source separation (MSS) that reformulates the task as conditional discrete token generation. Unlike conventional approaches that directly estima…
Integrating pretrained speech encoders with large language models (LLMs) is promising for ASR, but performance and data efficiency depend on the speech-language interface. A common choice is a learned…
Recent advances in robot foundation models trained on large-scale human teleoperation data have enabled robots to perform increasingly complex real-world tasks. However, scaling these systems remains …
Liquid crystal (LC) is a promising hardware solution for implementing large RISs, as it is cost-effective, energy efficient, scalable, and capable of providing continuous phase shifts with low power c…
Automatic Speech Recognition (ASR) for low-resource Dravidian languages like Telugu and Kannada faces significant challenges in specialized medical domains due to limited annotated data and morphologi…
Recently, artificial intelligence-based dubbing technology has advanced, enabling automated dubbing (AD) to convert the source speech of a video into target speech in different languages. However, nat…
Conventional momentum strategies, despite their proven efficacy in generating alpha, frequently suffer from the "Winner's Curse", a structural vulnerability in which high performing assets exhibit clu…
Scaling Vision-Language-Action (VLA) models requires massive datasets that are both semantically coherent and physically feasible. However, existing scene generation methods often lack context-awarene…
Optimal stabilization of safety-critical nonlinear systems requires balancing long-term performance and strict safety constraints. Existing quadratic-programming-based control barrier function (CBF) s…
Spatial reasoning is a fundamental capability for embodied intelligence, especially for fine-grained manipulation tasks such as robotic assembly. While recent vision-language models (VLMs) exhibit pre…
In this paper, we develop a representation-theoretic formulation of discrete-time linear systems. We show that such systems are naturally viewed as representations of time groups acting on vector spac…
Inspired by the general Vision-and-Language Navigation (VLN) task, aerial VLN has attracted widespread attention, owing to its significant practical value in applications such as logistics delivery an…
This paper investigates the optimal privacy-aware networked control problem, in which the dynamical system affected by a private input process sends its measurement to a remote controller after stocha…
This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hard…
Bimanual manipulation requires reasoning about where to interact with an object and which arm should perform each action, a joint affordance localization and arm allocation problem that geometry-only …
Developing autonomous physical human-robot interaction (pHRI) systems is limited by the scarcity of large-scale training data to learn robust robot behaviors for real-world applications. In this paper…
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